Forearm Motion Tracking with Estimating Joint Angles from Inertial Sensor Signals

Author

Kim, Ji-Hwan ; Thang, Nguyen Duc ; Suh, Hyun Sang ; Rasheed, Tahir ; Kim, Tae-Seong

Author_Institution

Dept. of Biomed. Eng., Kyung Hee Univ., Yongin, South Korea

fYear

2009

fDate

17-19 Oct. 2009

Firstpage

1

Lastpage

4

Abstract

In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a tri-axis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to control the digital arm with the estimated joint angles via Kalman filtering. Some preliminary experimental results are presented.

Keywords

Kalman filters; accelerometers; biomechanics; gyroscopes; sensors; 3-D digital forearm model; Kalman filtering; forearm motion tracking; forearm movement tracking; gyrospcope sensors; inertial measurement unit; inertial sensor signals; joint angles; kinematic chain theory; superquadric surfaces; triaxis accelerometer; Accelerometers; Digital control; Feedback; Gyroscopes; Kalman filters; Kinematics; Measurement units; Motion control; Motion estimation; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Engineering and Informatics, 2009. BMEI '09. 2nd International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-4132-7

Electronic_ISBN

978-1-4244-4134-1

Type

conf

DOI

10.1109/BMEI.2009.5305761

Filename

5305761